RESEARCH OF VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING-BASED NAVIGATION SYSTEM FOR MOBILE ROBOTS

• Main Authors: Walaa Othman, Vladislav S. Gromov
• Format: Article
• Language: English
• Published: Saint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University) 2020-07-01
• Series: Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki
• Subjects: navigation; path planning; rtab-map; slam
• Online Access: https://ntv.ifmo.ru/file/article/19635.pdf

Subject of Research. The paper considers navigation system for mobile robots by building a map of the environment using Simultaneous Localization and Mapping algorithm and converting the 3D map collected by INTEL Realsense Depth camera into a 2D-cost map. Method. Real-Time Appearance-Based Mapping was used for building a virtual 3D map of the environment. A binary map was obtained by projecting the 3D map on a plane. The D* algorithm was applied on the binary map for planning a global path to the goal. The Dynamic-Window Approach was used as a local planner. Main Results. A point cloud of the environment was created and converted to a 2D map. A robot was safely navigated to the desired location. Practical Relevance. The proposed approach is fast and reliable and can be used for indoor navigation (factories and companies). Since the map needs to be designed only once, the calculation can be handled by CPU without any need for graphics processing unit.